JPH05331905A - Pipeline cleaning device - Google Patents

Abstract

PURPOSE:To make it possible to correct the slanting of a cleaning device, monitoring the movement of the device through a camera when the cleaning device is slanted inside a pipeline by halting the operation of a motor when the vertical position of a suction nozzle is detected by a slanting sensor installed to the suction nozzle. CONSTITUTION:A suction pipe 2 having a suction nozzle 5 oscillated in a circumferential direction by a motor 22, is laid out at the axial center of a pipeline 3. There are also installed drive wheels 11 and 13 outside the suction pipeline 2, which turn around at a front and rear running position running in a longitudinal direction of the pipeline 2 and at a circumferential running position running in a circumferential direction of the pipeline 2. Then, a slanting sensor 25 is mounted to the suction nozzle 5 where the slanting sensor 25 is designed to detect a slanted angle of the suction nozzle 5 against the vertical position of the pipeline 2. furthermore, a camera 26, which is capable of confirming the position of the suction nozzle 5, is installed to the side of the suction nozzle 5. When it is necessary to stop the movement of the suction nozzle 5, the operating status is monitored with the camera 26 and controlled. When the slanting sensor 25 detects the vertical position of the suction nozzle 5, the motor 22 is stopped.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipeline cleaning device for cleaning the interior of pipelines through which agricultural water, rainwater, etc. flow.

[0002]

2. Description of the Related Art Conventionally, Japanese Patent Application No.
225703. This pipeline cleaning device is for cleaning the inside of the pipeline by operating the camera on the TV outside the pipeline to clean the interior of the pipeline. Even if the device is tilted, the suction nozzle is always set to the vertical position of the pipeline. It is possible to swing in the angle range of.

However, when the swinging switch of the suction nozzle is turned off, the motor stops and the suction nozzle shifts from the vertical position and stops.

[0004]

When the device is tilted too much, the suction hose is twisted, and this twist causes the suction hose to deform, and the suctioned material is piled up on this deformed portion to close the suction hose. To do. In order to prevent this, it is necessary to correct the inclination of the device. In the cleaning device of Japanese Patent Application No. 3-225703,
Since the camera is centered right under the device, if you look at the suction nozzle in the image of the camera, you can see the deviation between the device and the suction nozzle, but you can not see the tilt of the device itself, and if the device is tilted Was corrected from the entrance of the pipeline,
I couldn't fix it because I didn't know the device was tilted if it was far from the entrance of the pipeline.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a conduit cleaning device that can correct the inclination of the device while watching the image of the camera even if the device is inclined at a position far from the entrance of the conduit. is there.

[0006]

In order to achieve the above object, the present invention provides a suction pipe having a suction nozzle which is arranged at an axial center position of a pipe line and which is oscillated in a circumferential direction by a motor. In the pipeline cleaning device, which is provided on the outside of the suction pipe, the pipeline cleaning device includes drive wheels that rotate in a front-rear traveling position that travels in the axial direction of the pipeline and a circumferential traveling position that travels in the circumferential direction of the pipeline. An inclination sensor attached to the nozzle for detecting the inclination angle of the suction nozzle with respect to the vertical position of the pipe line, and the inclination sensor for detecting the vertical position of the suction nozzle when the suction nozzle is stopped. Control means for stopping the
It is characterized by comprising a camera attached to the suction pipe side and capable of confirming the position of the suction nozzle.

[0007]

When the suction nozzle is to be stopped after the running of the duct cleaning device is stopped, the control means causes the tilt sensor to stop the motor when the vertical position of the suction nozzle is detected, thereby tilting the device. However, the suction nozzle stops at the vertical position. If you check the suction nozzle in the image of the camera, you can see the inclination from the vertical position of the device.

After turning the drive wheels from the front-rear traveling position to the circumferential traveling position, the inclination of the device is corrected while observing the image of the camera.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 1 is a conduit cleaning device. Reference numeral 2 denotes a suction pipe arranged at the axial center position C of the pipe line 3.
A suction hose 4 is connected to the rear end of the suction hose 4.
Is connected to the suction means of a suction wheel (not shown).

A suction nozzle 5 is connected to the front end of the suction pipe 2. The tip portion of the suction nozzle 5 and the swing cylinder portion 5a are connected by a cylinder 6 and a link 7.
And the link 7, the suction nozzle 5 is vertically swung up and down to a retracted position indicated by a chain double-dashed line corresponding to the axial center position C, and a suction position indicated by a solid line that curves downward and extends along the inner surface of the conduit 3.

A link 8a is provided on the outer periphery of the front portion of the suction tube 2.
A front parallel link 8 made up of 8b and 8c is attached to the circle in three equal positions, and links 9a and 9 are provided on the outer periphery of the rear portion of the suction tube 2.
A rear parallel link 9 made up of b and 9c is attached to the circumference in three equal positions. A bracket 10 is pivotally mounted on the link 8b of each of the front parallel links 8 so as to be rotatable, and front drive wheels 11 are attached to the bracket 10.

A bracket 12 is pivotally attached to the link 9b of each of the rear parallel links 9 so as to be rotatable, and rear drive wheels 13 are attached to the bracket 12. Cylinders 14 and 15 are attached to the links 8b and 9b, respectively, and the cylinders 14 and 15 are connected to the brackets 10 and 12, respectively. The cylinders 14 and 15 allow the drive wheels 11 and 13 to move in the front-rear traveling position in the axial direction of the conduit 3 shown in FIG. 3 and the circumferential travel in which the driving wheels 11 and 13 are directed in the circumferential direction of the conduit 3 shown in FIG. 9 in position
Turn 0 degrees.

A motor (not shown) is built in each of the drive wheels 11 and 13, and each drive wheel 11 and 13 is driven to rotate by this motor.
A front slide cylinder 16 and a rear slide cylinder 17 are axially slidably fitted to both sides of the intermediate portion of the suction tube 2. The front slide cylinder 16 and the front parallel link 8 are connected by a front operation link 18, and the rear slide cylinder 1
7 and the rear parallel link 9 are connected by a rear actuation link 19.

The front slide cylinder 16 and the rear slide cylinder 17
A cylinder 20 is connected to the front slide cylinder 16 and the rear slide cylinder 17 when the cylinder 20 is extended.
Slide backwards, and each actuation link 18,1
The front and rear parallel links 8 and 9 expand outward in the radial direction via 9, and when the cylinder 20 is contracted, the front and rear parallel links 8 and 9 contract inward in the radial direction.

A speed reducer 21, a motor 22 and an encoder 23 are provided at the front end of the suction pipe 2, and the speed reducer 2 is provided.
1, a drive roller 24 is attached to the drive roller 2
4 is in contact with the swing cylinder 5 a of the suction nozzle 5. The rotation speed and rotation direction of the motor 22 are set to the encoder 2
While detecting in 3, the forward and reverse rotation of the motor 22 causes the suction nozzle 5 to swing in the circumferential direction within a predetermined angle range.

A pipe line 3 is provided at the upper end of the swinging cylinder portion 5a.
An inclination sensor 25 for detecting the inclination angle of the suction nozzle 5 with respect to the vertical position V is attached. On the side of the front end of the suction tube 2, a camera (CC
D camera and light) 26 is installed, and this camera 26
Is monitored on a television outside the conduit 3.

As shown in FIG. 5, the motor 22 and the tilt sensor 25 are provided with a control box 27 as a control means.
It is connected to the. In this control box 27, in addition to a microcomputer (not shown) having a program for executing steps S6, S7 and S8 of FIG. 6, a switch 28 for automatic operation, a switch 29 for manual operation, and a suction nozzle 5 are provided. Oscillating switch 30, joystick 3 for manually adjusting the oscillating direction and oscillating angle of the suction nozzle 5.
1, voltmeter 32, swing angle meter 33, swing speed variable knob 3
4, a left swing angle setting knob 35 and a right swing angle setting knob 36 of the suction nozzle 5 are provided.

As shown in FIG. 3, the inclination sensor 25 outputs the output voltage O when the suction nozzle 5 is aligned with the vertical position V of the pipe line 3, but the suction nozzle 5 is connected to the vertical line V of the pipe line 3. When tilted with respect to the position V, a voltage is output according to the tilt direction and tilt angle, and this is displayed by the voltmeter 32. The left and right swing angle setting knobs 35 and 36 are used to arbitrarily set the swing angle of the suction nozzle 5 in the left and right directions. The swing direction and swing angle of the suction nozzle 5 are the swing angle. A total of 33 is displayed.

If the swing angle and the swing speed of the suction nozzle 5 are set in advance, the automatic operation switch 28 automatically operates according to the settings. The manual operation switch 29 is for manually operating the joystick 31 and the swing speed variable knob 34 while watching the image of the camera 26, the voltmeter 32 and the swing angle meter 33.

In the control box 27, the suction nozzle 5 always oscillates within a predetermined angle range θ with respect to the vertical position V of the conduit 3 according to the detection of the inclination sensor 25, and when the suction nozzle 5 is stopped. Suction nozzle 5 is in vertical position V
A control unit for controlling the motor 22 so that the motor 22 is stopped is incorporated. The operation of the present invention having the above-described construction will be described below.

When the sludge and the like in the pipeline 3 are collected by suction, first, the cleaning device 1 is set at the inlet of the pipeline 3 and the cylinder 1
The front and rear drive wheels 11 and 13 are swung to the circumferential traveling position at 4 and 15. Next, when the cylinder 20 is extended, the front slide cylinder 16 slides forward and the rear slide cylinder 17 slides rearward, so that the front and rear parallel links 8 and 9 are radially outward via the operation links 18 and 19. The driving wheels 11 and 13 that expand and become lower climb up in the pipe line 3 while traveling in the circumferential direction, and come into contact with the inner surface of the pipe line 3 at three equal positions on the circumference, and the suction pipe 2 moves to the pipe. It is arranged at the axial center position C of the path 3. (See FIG. 2) After that, the front and rear drive wheels 11, 13 are driven by the cylinders 14, 15.
Turn to the forward / backward traveling position. (See FIG. 3) Then, in the case of automatic operation, referring to FIG. 6, step S
1, the automatic operation switch 28 is turned on, the swing speed variable knob 34 of the control box 27 sets the swing speed of the suction nozzle 5 in step S2, and steps S3 and S3 are performed.
4, the left and right swing angle setting knobs 35, 36 are suction nozzles 5.
Swing angle (for example, θ / 2 = 60 degrees to the left, θ / 2 = 6 to the right)
(0 degree) is set, and the swing switch 30 is turned on in step 5.

Then, when the cleaning device 1 is moved in the axial direction of the pipe line 3, the motor 22 is rotated counterclockwise in step 6 and the suction nozzle 5 is swung left by 60 degrees. Next in step S7
Then, the motor 22 is rotated to the right and the suction nozzle 5 is swung to the right at 60 degrees. In this case, the suction nozzle 5 swings by 60 degrees in the left-right direction with respect to the vertical position V of the conduit 3 to suck sludge and the like.

When the cleaning is completed and the swing switch 30 is released from the ON state in step S5, the suction nozzle 5 swings to the vertical position V in step S8, and the suction nozzle 5 swings in step S9.
22 is stopped, and the process ends at step S10. On the other hand, in the case where the cleaning device 1 is inclined during the cleaning work and is to be corrected, first, when the traveling of the cleaning device 1 is stopped and the swing switch 30 is released from ON, the suction nozzle 5 stops at the vertical position.

Next, when the image of the camera 26 is viewed on the television, the image of the camera 26 is inclined as shown in FIG.
Since the center position R is taken as the center, the suction nozzle 5 at the vertical position V appears to be offset by α degrees. After turning the front and rear drive wheels 11 and 13 to the circumferential traveling position, the drive wheels 11 and 13 are driven while observing the image to correct the deviation of α degrees.

In order to confirm whether the suction nozzle 5 has been corrected, the suction nozzle 5 is swung and then stopped, and when the suction nozzle 5 is at the center position of the cleaning device 1 by observing the image of the camera 26, it is corrected correctly.

[0026]

As described above, according to the present invention, since the suction nozzle is always stopped at the vertical position, even if the pipeline cleaning device is inclined in the pipeline, the inclination of the cleaning device can be adjusted while watching the image of the camera. Can be modified.

[Brief description of drawings]

FIG. 1 is a side view of a conduit cleaning device.

FIG. 2 is a sectional view of a driving wheel of the cleaning device at a circumferential traveling position.

FIG. 3 is a cross-sectional view of front and rear traveling positions of drive wheels of the cleaning device.

FIG. 4 is a sectional view of the cleaning device in a tilted state.

FIG. 5 is a front view of a control box.

FIG. 6 is a control flow chart by a control box.
It is

[Explanation of symbols]

 1 Pipeline Cleaning Device 2 Suction Pipe 3 Pipeline 5 Suction Nozzle 22 Motor 25 Inclination Sensor-26 Camera C Axial Position V Vertical Position

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Norihiro Matsumoto 6-45 Koshienguchi, Nishinomiya-shi, Hyogo Within Far East Development Co., Ltd.

Claims (1)

[Claims] 1. A suction pipe having a suction nozzle which is disposed at an axial center position of a pipe line and is oscillated in a circumferential direction by a motor,
A pipe line cleaning device provided on the outside of the suction pipe, comprising a front and rear traveling position for traveling in the axial direction of the pipe line, and a drive wheel turning to a circumferential traveling position for traveling in the circumferential direction of the pipe line,
An inclination sensor attached to the suction nozzle and configured to detect an inclination angle of the suction nozzle with respect to a vertical position of the pipe line; and, when the suction nozzle is stopped, the inclination sensor detects the vertical position of the suction nozzle to detect the vertical position of the suction nozzle. A pipe line cleaning device comprising a control means for stopping the data and a camera attached to the suction pipe side and capable of confirming the position of the suction nozzle.